CN108725625A - Climb building obstacle detouring transport power carrier, control method, mobile terminal and storage medium - Google Patents
Climb building obstacle detouring transport power carrier, control method, mobile terminal and storage medium Download PDFInfo
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- CN108725625A CN108725625A CN201810614336.5A CN201810614336A CN108725625A CN 108725625 A CN108725625 A CN 108725625A CN 201810614336 A CN201810614336 A CN 201810614336A CN 108725625 A CN108725625 A CN 108725625A
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- 238000000034 method Methods 0.000 title claims abstract description 51
- 238000003860 storage Methods 0.000 title claims abstract description 16
- 238000013519 translation Methods 0.000 claims abstract description 187
- 238000012546 transfer Methods 0.000 claims abstract description 54
- 230000009194 climbing Effects 0.000 claims abstract description 47
- 238000012545 processing Methods 0.000 claims abstract description 34
- 238000005096 rolling process Methods 0.000 claims abstract description 10
- 230000008569 process Effects 0.000 claims description 21
- 230000004888 barrier function Effects 0.000 claims description 12
- 230000000007 visual effect Effects 0.000 claims description 12
- 230000007246 mechanism Effects 0.000 claims description 9
- 230000002452 interceptive effect Effects 0.000 claims description 6
- 238000013473 artificial intelligence Methods 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims description 3
- 230000007613 environmental effect Effects 0.000 claims description 3
- 230000003319 supportive effect Effects 0.000 claims description 3
- 208000036829 Device dislocation Diseases 0.000 claims 1
- 230000014616 translation Effects 0.000 description 150
- 238000004891 communication Methods 0.000 description 4
- 230000008602 contraction Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000003068 static effect Effects 0.000 description 3
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 241001212149 Cathetus Species 0.000 description 1
- 210000001015 abdomen Anatomy 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000005314 correlation function Methods 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000001627 detrimental effect Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
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- 238000011105 stabilization Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Motorcycle And Bicycle Frame (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses one kind climbing building obstacle detouring transport power carrier, control method, mobile terminal and storage medium, it includes at least one set of Telescopic support leg to climb building obstacle detouring transport power carrier, and every group of Telescopic support leg be made of at least two Telescopic support legs, rectilinear translation device, transfer, load platform, vision identification processing device and control device；Rectilinear translation device is controlled according to line information and moves target range relative to support leg, and transfer drives load platform with respect to support leg rolling target angle；Support leg is stretched target length, ensures that free leg replaces with support leg and can be supported on ground.It by the switching between free leg and support leg, realizes that load platform moves linearly with respect to support leg, the rotation of load platform is driven based on transfer, realize that load platform turns to；Using Telescopic support leg, proof load platform is in horizontality always.
Description
Technical field
The present invention relates to intelligent carrier technical fields more particularly to one kind climbing building obstacle detouring transport power carrier, control method, movement
Terminal and storage medium.
Background technology
Nowadays seen intelligence climbs building obstacle detouring carrier on the market, is mainly realized with four-bar mechanism or planetary wheeling mechanism
Climb building obstacle detouring.Include mainly following several types：Planet wheel-type, this building obstacle detouring of climbing is simple in structure, using self-locking mechanism, ensures
Do not topple over when stair activity；Additional Track Type, it is this to climb building obstacle detouring structure, in upper go downstairs, by the way of additional crawler belt, protect
The continuity of stair activity process is demonstrate,proved；Crawler belt and wheel combination type, this building obstacle detouring carrier of climbing use four-bar mechanism, pass through liter
Wheel drops to realize the conversion of wheel and crawler belt.Wherein, planet wheel-type climbs building obstacle detouring carrier, in stair activity, cannot meet
User cannot keep the level of load platform to comfortable and reliability demand；And additional Track Type climbs building obstacle detouring carrier and exists
Every time when installation crawler belt, need to complete with the help of other people, at the same time, additional crawler belt is very heavy, inconvenient to carry, greatly
Limit the use scope for climbing building obstacle detouring carrier.
Invention content
The main purpose of the present invention is to provide one kind climbing building obstacle detouring transport power carrier, control method, mobile terminal and storage
Medium, it is intended to which it is complicated, inconvenient to carry that building obstacle detouring carrier structure is climbed in solution in the prior art, and load platform cannot be kept horizontal
The technical issues of.
To achieve the above object, the embodiment of the present invention provides one kind and climbing building obstacle detouring transport power carrier, described to climb building obstacle detouring transport power
Carrier includes running gear, rectilinear translation device, transfer, load platform and power supply；The running gear includes at least one
Group Telescopic support leg, every group of Telescopic support leg are made of at least two Telescopic support legs；The running gear further includes
The retractable driving device for driving Telescopic support leg flexible；The rectilinear translation device, which includes that driving rectilinear translation device is opposite, to be propped up
The rectilinear translation driving device of support leg vertical line translation；The transfer includes steer-drive；It is described to climb building obstacle detouring
Transport power carrier is additionally provided with vision identification processing device and control device；
The running gear is connect with the rectilinear translation device linear slide that rectilinear translation driving device drives, the straight line
Translating device is fixedly connected far from running gear side with transfer, and transfer is rotatably connected with load platform, described
Device for visual identification and control device are electrically connected, the control device and retractable driving device, rectilinear translation driving device and
Steer-drive is electrically connected；The power supply is device for visual identification, control device, retractable driving device, rectilinear translation drive
Dynamic device and steer-drive provide electric energy.
Optionally, the Telescopic support leg is realized and is stretched by rotating driving and/or Linear Driving；The scalable branch
Support leg includes at least one of scissor-like structure, hydraulic push rod type structure and gear type structure retractable structure；It is described scalable
Rotational structure is additionally provided in support leg, Telescopic support leg is divided into rotating part and fixed part, rotating part by the rotational structure
It is flexibly connected by rotational structure with fixed part；The rotating part connects far from rotational structure one end and the sliding of rectilinear translation device
It connects, the fixed part is used to contact with ground far from rotational structure one end, plays a supportive role.
Optionally, the rectilinear translation device realizes rectilinear translation, the straight line by rotating driving and/or Linear Driving
Translating device includes that linear gear rack and gear engagement structure or at least one of line slide rail and pulley fit structure straight line are flat
Move structure；Each Telescopic support leg is individually slidably connected with a straight line translating device；The same group of scalable branch
It is parallel relation between the rectilinear translation device that each Telescopic support leg of support leg is connected.
Optionally, the transfer realizes and turns to that the transfer includes by rotating driving and/or Linear Driving
At least one of deflecting roller and driving wheel engaging structure or push-and-pull link mechanism steering structure；The same group of retractable supports
Leg two rectilinear translations device disposed in parallel is fixedly connected with the same transfer.
The present invention also provides one kind climbing building obstacle detouring transport power carrier control method, and the building obstacle detouring transport power carrier of climbing includes walking
Device, rectilinear translation device, transfer and load platform；The running gear includes at least one set of Telescopic support leg, often
Group Telescopic support leg is made of at least two Telescopic support legs；The running gear further includes that driving Telescopic support leg is stretched
The retractable driving device of contracting, the rectilinear translation device include that driving rectilinear translation device is moved relative to support leg horizontal linear
Rectilinear translation driving device；The transfer includes steer-drive；It is described climb building obstacle detouring transport power carrier and be additionally provided with regard
Feel recognition process unit and control device；
The building obstacle detouring transport power carrier control method of climbing includes：
The control range and/or mobile terminal control range of view-based access control model recognition process unit setting obtain line information simultaneously
Dynamic calculates adjustment travelling route, and to rectilinear translation driving device, retractable driving device and drive is turned to according to the line information
Dynamic device carries out comprehensive coordination control；
It is calculated according to the line information, controls support ground in rectilinear translation device every group of Telescopic support leg relatively
Support leg moves target range from rectilinear translation device starting point, controls in transfer every group of Telescopic support leg relatively and supports ground
The support leg rolling target angle in face coordinates rectilinear translation process, realizes that driving load platform turns to；
Calculated according to the line information alternately to cross a pit required height for the obstacle detouring of the free leg drop point of support leg
Difference, the support leg that control is currently supported on ground is being alternately the target length of free leg front stretching, to ensure free leg
Ground can be supported on when being alternately support leg, and load platform is in horizontality always；
The free leg is supported on ground in rectilinear translation device start position automatic telescopic length to stable, and alternating is
Support leg, it is alternately free leg that the support leg, which is shunk,.So far, support leg completes an alternate cycles with free leg.
Optionally, the control range and/or mobile terminal control range of the view-based access control model recognition process unit setting obtain
The step of taking line information further include：
Judge the line information of the acquisition whether in the range of the setting control of view-based access control model recognition process unit；
If carrying out obstacle detouring, avoidance calculating by processing routine, the line information of acquisition is in view-based access control model identifying processing dress
When setting in the range of control, then the support leg that ground is supported in control rectilinear translation device every group of Telescopic support leg relatively is executed
Target range is moved from rectilinear translation device starting point, controls the branch for supporting ground in transfer every group of Telescopic support leg relatively
Support leg rolling target angle coordinates rectilinear translation process, realizes the step of driving load platform turns to；
If carrying out obstacle detouring, avoidance calculating by processing routine, dynamically line information acquired after adjustment travelling route is equal
When control range beyond the setting of vision identification processing device, then alarm is exported, prompting mobile terminal interference control operation.
Optionally, in control linear translation device every group of Telescopic support leg relatively the support leg on support ground from straight
Line translating device starting point move target range the step of include：
Calculated when by processing routine, the target range be more than or equal to rectilinear translation device origin-to-destination away from
From when；
Controlling in the rectilinear translation device every group of Telescopic support leg relatively supports the support leg on ground from rectilinear translation
Device starting point moves to terminal；
It is calculated when by processing routine, the target range is rectilinear translation device origin-to-destination distance, but described
When free leg is updated to support leg, when the free leg will fall within barrier edge；
Adjust the target range be the first distance, it is described first distance be less than rectilinear translation device origin-to-destination away from
From the support leg for controlling support ground in rectilinear translation device every group of Telescopic support leg relatively is moved from rectilinear translation device starting point
Dynamic first distance.
Optionally, described calculated according to the line information will be alternately the obstacle detouring mistake of the free leg drop point of support leg
Height difference needed for hole, control are currently supported on the support leg on ground the step of alternating is the target length of free leg front stretching
Including：
If calculating after support leg is retractable to maximum or minimum target length, free leg, which is alternately support leg, to be propped up
It supports at ground,
According to control program in the control range and/or mobile terminal control range of the setting of vision identification processing device
Optimization algorithm adjusts circuit at least once, is made according to the flexible target length of the line information calculating support leg non-supported
Leg can be supported on ground when being alternately support leg；When the target length stretched by repeatedly adjusting routine calculation support leg,
After can not making free leg alternately to be supported on ground when support leg, alarm, prompting mobile terminal interference control operation are exported.
The present invention also provides a kind of mobile terminal, the mobile terminal includes：Memory, processor and it is stored in described deposit
On reservoir and what can be run on the processor climbs building obstacle detouring transport power carrier control program, further includes the people for realizing interference control
Machine interactive program module and device, the interactive interface of artificial intelligence control.The building obstacle detouring transport power carrier control program of climbing includes
It is realized when being executed by the processor above-mentioned the step of climbing building obstacle detouring transport power carrier control method.
The present invention also provides a kind of storage medium, it is stored on the storage medium and climbs building obstacle detouring transport power carrier control journey
Sequence, described climb are realized when building obstacle detouring transport power carrier control program is executed by processor and above-mentioned climb building obstacle detouring transport power carrier controlling party
The step of method；The control program obtains circuit and environmental information by device for visual identification；The device for visual identification includes
One or more of combinations is at least one in laser radar, radar, camera and infrared sensor.
Climb building obstacle detouring transport power carrier the invention discloses one kind, it is described climb building obstacle detouring transport power carrier include running gear, it is straight
Line translating device, transfer and load platform；The running gear includes at least one set of Telescopic support leg, and every group scalable
Support leg is made of at least two Telescopic support legs；The running gear, which further includes that driving Telescopic support leg is flexible, to be stretched
Driving device, the rectilinear translation device include driving rectilinear translation device with respect to the rectilinear translation driving that support leg moves horizontally
Device；The building obstacle detouring transport power carrier of climbing is additionally provided with vision identification processing device and control device；Pass through vision identification processing
Device and/or mobile terminal input obtain line information；Controlling every group relatively of rectilinear translation device according to the line information can
The support leg on ground is supported to move target range from rectilinear translation device starting point in telescopic support legs, control transfer drives negative
The support leg rolling target angle on ground is supported in carrying platform every group of Telescopic support leg relatively；Control does not support the non-branch on ground
Support leg is located at rectilinear translation device start position, is calculated when the free leg becomes support leg and is stretched according to the line information
Target length；The free leg is updated to support in rectilinear translation device start position according to the flexible target length
Leg is to support ground, the support leg contraction to be updated to free leg.Switched by the update between free leg and support leg,
It realizes that rectilinear translation device moves linearly with respect to support leg, and then drives load platform linear movement；When needing to turn to, pass through
Transfer drives the rotation of load platform, and then realizes that load platform turns to；Utilize Telescopic support leg, proof load platform
Always it is in horizontality, the complicated of building obstacle detouring carrier is climbed in solution in the prior art, cannot keep load platform level
Technical problem.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
The structure shown according to these attached drawings obtains other attached drawings.
Fig. 1 is the terminal/apparatus structure schematic diagram for the hardware running environment that the embodiment of the present invention is related to；
Fig. 2 is the front view and left view for the embodiment that the present invention climbs building obstacle detouring transport power carrier；
Fig. 3 is the structural representation for the embodiment cathetus translating device and support leg that the present invention climbs building obstacle detouring transport power carrier
Figure；
Fig. 4 is the structural schematic diagram of transfer in the embodiment of the invention for climbing building obstacle detouring transport power carrier；
Fig. 5 is the flow diagram for the embodiment that the present invention climbs building obstacle detouring transport power carrier control method.
Drawing reference numeral explanation：
| Label | Title | Label | Title |
| 1 | Load platform | 2 | Rectilinear translation device |
| 3 | Telescopic support leg | 4 | Transfer |
| 5 | Connecting seat | 21 | Rectilinear translation driving device |
| 31 | Rotational structure | 32 | Pulley |
| 41 | Deflecting roller | 42 | Driving wheel |
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiment is only a part of the embodiment of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, those of ordinary skill in the art obtained without creative efforts it is all its
His embodiment, shall fall within the protection scope of the present invention.
The description for being related to " first ", " second " etc. in the present invention is used for description purposes only, and should not be understood as instruction or
It implies its relative importance or implicitly indicates the quantity of indicated technical characteristic." first ", " second " are defined as a result,
Feature can explicitly or implicitly include at least one of the features.In addition, the technical solution between each embodiment can phase
It mutually combines, but must can be implemented as basis with those of ordinary skill in the art, when the combination of technical solution occurs mutually
Contradiction or cannot achieve when, will be understood that the combination of this technical solution is not present, also not the present invention claims protection domain it
It is interior.
In the present invention unless specifically defined or limited otherwise, term " connection ", " fixation " etc. shall be understood in a broad sense,
For example, " fixation " may be a fixed connection, it may be a detachable connection, or integral；It can be mechanical connection, can also be
Electrical connection；It can be directly connected, can also can be indirectly connected through an intermediary the connection inside two elements or two
The interaction relationship of a element, unless otherwise restricted clearly.It for the ordinary skill in the art, can basis
Concrete condition understands the concrete meaning of above-mentioned term in the present invention.
In subsequent description, using for indicating that the suffix of such as " module ", " component " or " unit " of element is only
The explanation for being conducive to the present invention, itself does not have a specific meaning.Therefore, " module ", " component " or " unit " can mix
Ground uses.
As shown in Figure 1, the terminal structure schematic diagram for the hardware running environment that Fig. 1, which is the embodiment of the present invention, to be related to.This
Mobile terminal hereinafter referred to as terminal in invention.
Terminal of the embodiment of the present invention can be PC, can also be smart mobile phone, tablet computer, E-book reader, MP3
(Moving Picture Experts Group Audio Layer III, dynamic image expert's compression standard audio level 3)
Player, MP4 (Moving Picture Experts Group Audio Layer IV, dynamic image expert's compression standard sound
Frequency level 3) the packaged type terminal device with display function such as player, pocket computer.
As shown in Figure 1, the terminal may include：Processor 1001, such as CPU, network interface 1004, user interface
1003, memory 1005, communication bus 1002.Wherein, communication bus 1002 is for realizing the connection communication between these components.
User interface 1003 may include display screen (Display), input unit such as keyboard (Keyboard), optional user interface
1003 can also include standard wireline interface and wireless interface.Network interface 1004 may include optionally that the wired of standard connects
Mouth, wireless interface (such as WI-FI interfaces).Memory 1005 can be high-speed RAM memory, can also be stable memory
(non-volatile memory), such as magnetic disk storage.Memory 1005 optionally can also be independently of aforementioned processor
1001 storage device.
Optionally, terminal can also include camera, RF (Radio Frequency, radio frequency) circuit, sensor, audio
Circuit, WiFi module etc..Wherein, sensor such as optical sensor, motion sensor and other sensors.Specifically, light
Sensor may include ambient light sensor and proximity sensor, wherein ambient light sensor can according to the light and shade of ambient light come
The brightness of display screen is adjusted, proximity sensor can close display screen and/or backlight when mobile terminal is moved in one's ear.As
One kind of motion sensor, gravity accelerometer can detect in all directions the size of (generally three axis) acceleration, quiet
Size and the direction that can detect that gravity when only, the application that can be used to identify mobile terminal posture are (such as horizontal/vertical screen switching, related
Game, magnetometer pose calibrating), Vibration identification correlation function (such as pedometer, tap) etc.；Certainly, mobile terminal can also match
The other sensors such as gyroscope, barometer, hygrometer, thermometer, infrared sensor are set, details are not described herein.
It will be understood by those skilled in the art that the restriction of the not structure paired terminal of terminal structure shown in Fig. 1, can wrap
It includes than illustrating more or fewer components, either combines certain components or different components arrangement.
As shown in Figure 1, as may include that operating system, network are logical in a kind of memory 1005 of computer storage media
Believe module, Subscriber Interface Module SIM and climbs building obstacle detouring transport power carrier control program.
In terminal shown in Fig. 1, network interface 1004 is mainly used for connecting background server, is carried out with background server
Data communicate；User interface 1003 is mainly used for connecting client (user terminal), with client into row data communication；And processor
1001 can be used for calling what is stored in memory 1005 to climb building obstacle detouring transport power carrier control program.
In addition, the technical solution between each embodiment of the present invention can be combined with each other, but must be general with this field
Logical technical staff can be implemented as basis, will be understood that when the combination of technical solution appearance is conflicting or cannot achieve this
The combination of technical solution is not present, also not the present invention claims protection domain within.
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
The present invention provides one kind and climbing building obstacle detouring transport power carrier, as shown in Figures 2 to 4, described to climb building obstacle detouring transport power carrier packet
Include running gear, rectilinear translation device 2, transfer 4, load platform 1 and power supply；The running gear includes that at least one set can
Telescopic support legs 3, every group of Telescopic support leg 3 are made of at least two Telescopic support legs 3；The running gear further includes driving
The flexible retractable driving device of dynamic Telescopic support leg 3, the rectilinear translation device include 2 opposite branch of driving rectilinear translation device
The rectilinear translation driving device 21 of support leg vertical line translation；The transfer 4 includes steer-drive；It gets in the building of climbing
Barrier transport power carrier is additionally provided with vision identification processing device and control device；
2 linear slide of rectilinear translation device that the running gear is driven by pulley 32 and rectilinear translation driving device 21
Connection, the rectilinear translation device 2 are fixedly connected far from running gear side with transfer 4, transfer 4 and load platform
1 is rotatably connected, and the device for visual identification and control device are electrically connected, the control device and retractable driving device, straight
Line translation driving device and steer-drive are electrically connected；The power supply is vision identification processing device, control device, stretches
Driving device, rectilinear translation driving device and steer-drive provide electric energy.
One load platform 1 can install one group or multigroup Telescopic support leg 3, and every group of Telescopic support leg 3 can be by
Two or more compositions of Telescopic support leg 3, to be provided with 4 groups of Telescopic support legs on load platform 1, every group scalable
For support leg 3 is two Telescopic support leg 3, the one end of Telescopic support leg 3 far from support ground is provided with pulley 32, institute
Pulley 32 is stated to be slidably connected with rectilinear translation device 2, it is of course also possible to other connection components in addition to pulley 32 are set, it is real
Existing rectilinear translation device 2 is moved relative to Telescopic support leg 3.When Telescopic support leg 3 is supported in ground, this is scalable
Support leg 3 is support leg, drives the opposite support leg vertical line of rectilinear translation device 2 flat by rectilinear translation driving device 21
It moves, and then the load platform 1 being connect with rectilinear translation device 2 is driven to move linearly, and the support leg is with respect to ground static；Every group
Another Telescopic support leg 3 is in contraction state in Telescopic support leg 3, which is free leg, when straight
Line translating device 2 is moved to target range stopping, which extends to support ground, is converted to support leg, and before
Support leg is shunk, and free leg is converted to.Later, be newly updated to rectilinear translation device 2 that support leg is slidably connected corresponding
Under rectilinear translation driving device 21 drives, relatively updated support leg linear movement stops, update when being moved to target range
Free leg elongation later is converted to support leg to support ground, and updated support leg, which is shunk, is converted to free leg,
So cycle realizes 1 rectilinear translation of load platform.
Furthermore in rectilinear translation device 2 with respect in support leg moving process, target range is less than or equal to rectilinear translation
The distance for the origin-to-destination that device 2 can translate.When each rectilinear translation device 2 is moved relative to support leg, from rectilinear translation
The starting point of device 2 is moved to target range, rectilinear translation driving device 21 by free leg from the target of rectilinear translation device 2 away from
The place's of setting driving of offing normal is located at the starting point of rectilinear translation device 2, and when being converted to support leg in order to the free leg, straight line is flat
Moving device 2 moves target range from the starting point of rectilinear translation device 2 relative to support leg.
To ensure that this climbs the intelligent of building obstacle detouring transport power carrier, vision identification processing device is further set, vision is passed through
This climbs road environment information around building obstacle detouring transport power carrier to recognition process unit equipment, and passes it to control device, in turn,
Control device controls retractable driving device, rectilinear translation driving device and/or turns to and drives according to the road environment information of acquisition
Device works.When road environment is not flat road surface, height when falling within ground based on free leg apart from ground, control is stretched
Leg when contracting driving device work adjustment free leg is converted to support leg is long, by the leg on support leg ground grow it is different ensure it is negative
Carrying platform 1 is in horizontality always.Realize that load platform 1 move horizontally or road when road environment can not be grown by adjusting leg
When road is turned, drive the rectilinear translation device 2 for being secured to connection and load platform 1 relative to branch by transfer 4
Support leg turns to, and then realizes that this is climbed building obstacle detouring transport power carrier and turns to, and carries out above-mentioned rectilinear translation again on the basis of steering, such as
This, realizes the intelligent obstacle detouring for climbing building obstacle detouring transport power carrier and steering, ensures that its load platform 1 is in horizontality always.
View-based access control model recognition process unit obtains road environment information in the present embodiment, with Telescopic support leg 3, straight line
Translating device 2 and the realization of transfer 4 climb building obstacle detouring transport power carrier and automatically move and turn to, and Telescopic support leg 3 can
According to the length that the adjustment of road environment information is flexible, proof load platform 1 is in horizontality always.
Optionally, it is climbed in an embodiment of building obstacle detouring transport power carrier in the present invention, as shown in figure 3, the retractable supports
Leg is realized and is stretched by rotating driving and/or Linear Driving；The Telescopic support leg 3 includes scissor-like structure, hydraulic push rod
At least one of formula structure and gear type structure retractable structure；Rotational structure 31 is additionally provided on the Telescopic support leg 3,
The rotational structure 31 divides Telescopic support leg 3 for rotating part and fixed part, and rotating part and fixed part pass through rotational structure 31
Flexible connection；The rotating part is slidably connected far from 31 one end of rotational structure with rectilinear translation device 2, and the fixed part is far from rotation
31 one end of rotation structure plays a supportive role for being contacted with ground.
In the present embodiment for a scissor-like structure, scissor-like structure includes diagonal web member and chord member, the diagonal web member and
Chord member length is all fixed, and the medium position trepanning of two diagonal web members is articulated and connected by scissor mode；Two oblique abdomens
The end trepanning of bar and the one end for being hinge-connected to chord member, the other end trepanning of two chord members of opposite position and are hinged
Connection.Scissor-like structure one end connects the pulley 32 being slidably connected with rectilinear translation device 2, scissor other end connection and ground
The support end of contact drives scissor Telescopic support leg 3 to realize elongation or shorten by retractable driving device, and guarantee can stretch
When contracting support leg 3 contacts support load platform 1 with ground, load platform 1 is in horizontality.It is of course also possible to be hydraulic thrust
Bar type structure, gear type structure or other can realize the flexible structure of support leg, as long as can realize that Telescopic support leg 3 is flexible
Structure, be not specifically limited herein.Wherein, hydraulic push rod type structure, can be hydraulic cylinder transfer bar mechanism, and hydraulic cylinder pushes away
Linkage includes hydraulic cylinder and telescopic rod, and the pulley 32 that telescopic rod one end is slidably connected with rectilinear translation device 2, telescopic rod is another
The support end that end connection is contacted with ground, is extended or is shortened by Driven by Hydraulic Cylinder telescopic rod.Gear type structure can be tooth
Wheel track formula telescopic rod, including cross bar, telescopic rod, telescopic rod microswitch, baffle, contraction position limited inching switch, gear rail, side
Frame, basic pole socket, the cross bar are installed at back side plane, and the telescopic rod microswitch shrinks position limited inching switch connection
At ontology inner face, the telescopic rod is sequentially connected, and the gear rail is sequentially connected to telescopic rod junction, telescopic rod one end with
The pulley 32 that rectilinear translation device 2 is slidably connected connects, and the telescopic rod other end is connected to the support end of ground contact, by flexible
Bar microswitch controls telescopic rod elongation or shortens.Certainly, a variety of flexible knots can be set on every Telescopic support leg 3
Structure can also be different and different stretching structures is arranged on Telescopic support leg 3.
For rotational structure 31 can be arranged on every Telescopic support leg 3, which can be set to and can stretch
Close to the one end on ground in contracting support leg 3, it can also be disposed in proximity to one end of load platform 1, it can by rotational structure 31
Telescopic support legs 3 are divided for rotating part and fixed part, and fixed part is turning close to ground side, rotating part close to 1 side of load platform
When climbing building obstacle detouring transport power carrier to the realization of device 4 and turning to, fixed part relative to ground static, rotating part with load platform 1 together
It turns to, lower resistance turns under the premise of Telescopic support leg 3 is not moved in realization, if being not provided with rotational structure 31, is turning to
Cheng Zhong, transfer 4 need to be such that Telescopic support leg 3 is moved on the ground to realize steering, it is clear that Telescopic support leg 3 is on ground
Movement has larger resistance on face, be unfavorable for steering operation, and Telescopic support leg easy to wear 3 is contacted with ground
One end.If Telescopic support leg 3 and ground, which are contacted one end, is set as rotatable pulley structure, it can also realize and climb building obstacle detouring
The steering of transport power carrier, but it is detrimental to the steady contact of Telescopic support leg 3 and ground.
In the present embodiment, a variety of realization Telescopic support legs 3 are provided and realize flexible retractable structure, furthermore, pass through
Rotational structure 31 is set on Telescopic support leg 3, and the lower resistance convenient for climbing building obstacle detouring transport power carrier turns to, while also reducing can
The abrasion of telescopic support legs 3 and ground contact jaw.
Optionally, it is climbed in an embodiment of building obstacle detouring transport power carrier in the present invention, as shown in figure 3, the rectilinear translation fills
It sets and realizes that rectilinear translation, the rectilinear translation device 2 are nibbled including linear gear rack with gear by rotating driving and/or Linear Driving
Close structure or at least one of line slide rail and pulley fit structure rectilinear translation structure；Each Telescopic support leg
3 are individually slidably connected with a straight line translating device 2；The rectilinear translation device 2 that the same group of Telescopic support leg 3 is separately connected
Between be parallel relation.
It is made of two Telescopic support legs 3 with every group of Telescopic support leg 3, rectilinear translation device 2 includes linear gear rack
For gear structure, linear gear rack and gear structure, linear gear rack are engaged with gear, are rotated by sliding tooth wheel, are driven straight
Line rack moves, two rectilinear translation devices 2 being slidably connected by pulley 32 far from ground one end with Telescopic support leg 3 it
Between be arranged in parallel, may be at same plane, same plane can not also be in, it is preferable that two rectilinear translation devices 2 are in same
One plane is arranged, and the Origin And Destination of two rectilinear translation devices 2 is aligned two-by-two.Be arranged in parallel can ensure it is all right one way or the other at same group
It when telescopic support legs 3 are converted between support leg and free leg, remains in same mobile route, and convenient for turning to
Device 4 is set on same group rectilinear translation device 2, and is controlled simultaneously corresponding with group rectilinear translation device 2.Two rectilinear translations fill
It sets 2 Origin And Destination to be aligned two-by-two, it is ensured that in same group of two Telescopic support legs 3 turn between support leg and free leg
When changing, the stationarity of load platform 1.
Furthermore the rectilinear translation structure of rectilinear translation device 2 can be linear gear rack and driving gear engagement structure, also may be used
To be line slide rail and pulley fit structure, naturally it is also possible to it is other rectilinear translation structures, as long as realizing linear movement,
It is not specifically limited herein.Line slide rail and pulley fit structure, pulley match setting with line slide rail, are rolled by driving pulley
It is dynamic, and then line slide rail is driven to be moved relative to pulley.Certainly, the rectilinear translation device 2 of different location can be arranged different straight
A variety of rectilinear translation structures can also be arranged in line translation structure, same rectilinear translation device 2.
Optionally, it is climbed in an embodiment of building obstacle detouring transport power carrier in the present invention, as shown in figure 4, the transfer is logical
It crosses rotation driving and/or Linear Driving is realized and turned to, the transfer 4 includes deflecting roller 41 and driving wheel 42, the steering
Wheel 41 and driving wheel 42 engage；The transfer 4 can also be push-and-pull link mechanism；The same group of Telescopic support leg is flat
Two rectilinear translation devices 2 of row setting are fixedly connected with the same transfer 4.
Transfer 4 can drive the deflecting roller 41 being connect with load platform 1 and rectilinear translation device 2 by driving wheel 42
Specified angle is rotated, to realize the steering for climbing building obstacle detouring transport power carrier, wherein deflecting roller 41 can be arranged according to actual conditions
Multiple, drive wheel group can also be arranged according to actual conditions in driving wheel 42.Preferably, connect with the same group of sliding of Telescopic support leg 3
The rectilinear translation device 2 connect is fixedly connected with same transfer 4 by connecting seat 5.It can certainly each rectilinear translation dress
Set the individual transfer of 2 connections 4.Link mechanism is pushed and pulled, by being connect with load platform 1 in one end of push-and-pull connecting rod, is driven
Connecting rod stretching motion is pushed and pulled, realizes and drives load platform 1 with respect to ground rotation.
For example, load platform 1 is rectangle, the side close to four angles of rectangle is respectively arranged with one group of retractable supports
Leg 3, there are one transfers 4 for setting on the rectilinear translation device 2 being connect with every group of Telescopic support leg 3.In load platform 1
Mobile the same end could be provided as rotating synchronously such as two groups of transfers 4 of front end, and the two of rear end are moved in load platform 1
Group transfer 4, could be provided as rotating synchronously, in this way, the complexity of control operation can be saved.
In the present embodiment, by the way that same transfer 4 is arranged to same group of rectilinear translation device 2, it is ensured that straight with group
Line translating device 2 rotates synchronously, and without being respectively provided with transfer 4 to each rectilinear translation device 2, can save cost of manufacture,
Also the simplification of operation and control is realized.
Optionally, it is climbed in an embodiment of building obstacle detouring transport power carrier in the present invention, the device for visual identification includes laser
At least one of radar, radar, camera and infrared sensor.It is realized to road ring by laser radar, radar, camera etc.
The acquisition in border, infrared sensor may further determine that the distance of barrier, the height etc. of barrier.
Certainly balance detection sensor, such as gyroscope can also be set on climbing building obstacle detouring transport power carrier, it can be into one
The proof load platform 1 of step is in horizontality.
The load platform 1 can be seat according to the actual application, can also be container, can also be rescuing device
Tool equipment, farm implements, other application equipment etc..
The present invention also provides one kind climbing building obstacle detouring transport power carrier control method, as shown in figure 5, the building obstacle detouring transport power of climbing carries
Having control method includes：
Step S10, the control range and/or mobile terminal control range of the setting of view-based access control model recognition process unit obtain line
Road information and dynamic calculate adjustment travelling route, according to the line information to rectilinear translation driving device, retractable driving device
Comprehensive coordination control is carried out with steer-drive；
Line information includes Obstacle Position, obstacle distance, obstacle height and road direction etc., obstacle herein
Object can be above the object on ground, less than the hollow either stair etc. on ground.
Specifically, step S10 includes：
Whether step S11 judges the line information of the acquisition in the setting control of view-based access control model recognition process unit
In range；
Step S12, if carrying out obstacle detouring, avoidance calculating by processing routine, the line information of acquisition is in view-based access control model knowledge
When in the range of other processing unit control, then executes in control rectilinear translation device every group of Telescopic support leg relatively and support ground
Support leg from rectilinear translation device starting point move target range, control transfer every group of Telescopic support leg relatively in support
The support leg rolling target angle on ground coordinates rectilinear translation process, realizes the step of driving load platform turns to；
Step S13, if carrying out obstacle detouring by processing routine, avoidance calculates, acquired line after dynamic adjustment travelling route
When road information exceeds the control range of vision identification processing device setting, then alarm, prompting mobile terminal interference control are exported
Operation.
Climbing building obstacle detouring transport power carrier operation by vision identification processing device and mobile terminal control has certain control
Range, and controlled by vision identification processing device or mobile terminal control, it can be that one of both is controlled, also may be used
To be that the two combination is controlled.Wherein, mobile terminal control is included in when being controlled beyond visual processing apparatus, is manually done
Relate to control.
Step S20 is calculated according to the line information, is controlled and is propped up in rectilinear translation device every group of Telescopic support leg relatively
The support leg for supportting ground moves target range from rectilinear translation device starting point, controls transfer every group of Telescopic support leg relatively
The support leg rolling target angle on middle support ground, coordinates rectilinear translation process, realizes that driving load platform turns to；
Target range handles to obtain the distance that rectilinear translation device is moved relative to support leg, the target according to line information
Distance is less than or equal to the distance that rectilinear translation device is moved to terminal with respect to support leg from starting point.Target angle, according to line
The angle that the needs that road information processing obtains rotate.
Control device controls rectilinear translation driving device driving rectilinear translation device and moves target range relative to support leg, and
And control transfer drives load platform with respect to fixed part rolling target angle in telescopic supporter.
Step S30 is calculated according to the line information and will alternately be crossed a pit for the obstacle detouring of the free leg drop point of support leg
Required height difference, the support leg that control is currently supported on ground is being alternately the target length of free leg front stretching, to ensure
Free leg can be supported on ground when being alternately support leg, and load platform is in horizontality always；
Target length, the length when free leg supports ground.For the free leg in every group of Telescopic support leg,
It is driven to be located at the start position of rectilinear translation device, convenient for when the free leg is converted to support leg, rectilinear translation device
Relative to support leg target range can be moved from starting point.Free leg, which is calculated, according to line information is located at rectilinear translation device
When point position, length when extending as support leg ensures that the length can maintain load platform to be in horizontality.
Step S40, the free leg are supported on ground in rectilinear translation device start position automatic telescopic length to stabilization
Face is alternately support leg, and it is alternately free leg that the support leg, which is shunk,；So far, support leg completes a friendship with free leg
For cycle.
According to the target length being calculated so that free leg is elongated to target length using as support leg, and before
Support leg, which is retracted, is used as free leg.Cyclic switching, realization load platform support support leg relatively between the two with free leg
Leg moves linearly, the movement of the buildings Ji Pa obstacle detouring transport power carrier.
By taking every group of Telescopic support leg is two Telescopic support legs as an example, when Telescopic support leg is supported in ground,
The Telescopic support leg is support leg, drives rectilinear translation device to be moved with respect to the support leg straight line by rectilinear translation driving device
It is dynamic, and then the load platform linear movement being connect with rectilinear translation device is driven, and the support leg is with respect to ground static；Every group can
Another Telescopic support leg is in contraction state in telescopic support legs, which is free leg, when straight line is flat
Moving device is moved to target range stopping, which is elongated to target length to support ground, is converted to support leg, and
Front support leg shrink, be converted to free leg.Later, be newly updated to rectilinear translation device that support leg is slidably connected right
Under answering rectilinear translation driving device to drive, relatively updated support leg linear movement stops, update when being moved to target range
Free leg elongation later is converted to support leg and is elongated to target length to support ground, and updated support leg, which is shunk, to be turned
It is changed to free leg, is so recycled, realizes load platform rectilinear translation.
Realize that load platform move horizontally or road when road environment can not be grown by adjusting the leg of Telescopic support leg
When turning, the rectilinear translation device for being secured to connection and load platform is driven to turn relative to support leg by transfer
To, and then realize that this is climbed building obstacle detouring transport power carrier and turns to, above-mentioned rectilinear translation is carried out again on the basis of steering, in this way, real
The intelligent obstacle detouring of the buildings Xian Liaopa obstacle detouring transport power carrier and steering ensure that its load platform is in horizontality always.
Line information, Jin Ergen are obtained by vision identification processing device and/or mobile terminal input in the present embodiment
According to the line information of acquisition, control rectilinear translation driving device driving rectilinear translation device movement drives load platform movement, turns
Rotation angle is controlled to device, realizes that the control of obstacle detouring and moving direction, retractable driving device control the length of Telescopic support leg
Degree realizes that load platform is in horizontality always.Three's fusion will be stretched, translated and turned to, realizes that intelligentized control method climbs building
The obstacle detouring of obstacle detouring transport power carrier is mobile and turns to.
Optionally, it is climbed in an embodiment of building obstacle detouring transport power carrier control method in the present invention, basis described in step S20
The support leg on support ground is from rectilinear translation in line information control linear translation device every group of Telescopic support leg relatively
Device starting point move target range the step of include：
Step S21, calculates when by processing routine, and the target range is arrived more than or equal to rectilinear translation device starting point
Terminal apart from when；
Step S22, control in the rectilinear translation device every group of Telescopic support leg relatively support ground support leg from
Rectilinear translation device starting point moves to terminal.
Since rectilinear translation device has certain length, so the distance that rectilinear translation device is moved relative to support leg
There are a certain range, the distance of origin-to-destination is the maximum distance that rectilinear translation device is moved relative to support leg.
When line information shows that road is flat, when can move relatively large distance along present road, the target arrived of calculating away from
From being likely larger than with a distance from rectilinear translation device origin-to-destination, if the mobile target range being currently calculated, it is clear that be
It is impossible, then, just control rectilinear translation device movement every group of Telescopic support leg relatively in support ground support leg from
Rectilinear translation device starting point moves to terminal.
In the present embodiment, rectilinear translation device is controlled according to the physical length of rectilinear translation device to move relative to support leg
Distance, avoid the occurrence of during automatically moving target range and exceed rectilinear translation device physical length, cause it is mobile malfunction or
Person moves the case where stopping.
Optionally, it is climbed in an embodiment of building obstacle detouring transport power carrier control method in the present invention, basis described in step S20
The support leg on support ground is from rectilinear translation in line information control rectilinear translation device every group of Telescopic support leg relatively
Device starting point move target range the step of include：
Step S23, calculates when by processing routine, and the target range is rectilinear translation device origin-to-destination distance,
But the free leg is when being updated to support leg, when the free leg will fall within barrier edge；
Step S24, it is the first distance to adjust the target range, and first distance is arrived less than rectilinear translation device starting point
The distance of terminal, the support leg for controlling support ground in rectilinear translation device every group of Telescopic support leg relatively are filled from rectilinear translation
It sets starting point and moves the first distance.
It is moved to final position for moving opposite support leg in rectilinear translation device, and free leg elongation is support leg
When, free leg will fall within the edge of barrier, and such as the edge of stairway step, this is obviously unfavorable for free leg and is switched to support
When leg, proof load platform is in horizontality, and when being also unfavorable for free leg and being switched to support leg, it is flat to stablize support load
Platform.At this point, the target range is adjusted, after the distance after making support leg movement adjust, free leg is converted to support
The horizontality of support and proof load platform can be stablized when leg, distance after the adjustment is the first distance, this first away from
From, according to line information handle be calculated, it is clear that first distance is less than the distance of rectilinear translation device origin-to-destination
's.
In the present embodiment, actual conditions are based on and adjust target range, avoid, when free leg is switched to support leg, falling
In the edge of barrier, cause support leg support stationarity poor.
Optionally, it is climbed in an embodiment of building obstacle detouring transport power carrier control method in the present invention, according to institute described in step S30
It states line information and calculates and alternately will cross a pit required height difference for the obstacle detouring of the free leg drop point of support leg, front support is worked as in control
Include in the step of support leg on ground is being alternately the target length of free leg front stretching：
Step S31, if calculating after support leg is retractable to maximum or minimum target length, free leg is alternately support
When leg can not be supported on ground,
Step S32, according to control in the control range and/or mobile terminal control range of the setting of vision identification processing device
The optimization algorithm of processing procedure sequence, adjusts circuit at least once, and the flexible target length of the support leg is calculated according to the line information
It is supported on ground when free leg alternating being enable to be support leg；When by the flexible target of repeatedly adjustment routine calculation support leg
Length after can not making free leg alternately to be supported on ground when support leg, exports alarm, prompting mobile terminal interference control
Operation.
When target length is longer than the tensile extreme length of free leg, then illustrate that there are deeper holes in front of support leg
Low-lying area, free leg, which is elongated to longest length and also cannot keep load platform, is in horizontality；Alternatively, target length is shorter than non-
The contractile shortest length of support leg then illustrates that there are load article on higher barrier or load platform in front of support leg
Height afterwards higher than present road can headroom, be such as higher than door height, free leg shortens to shortest length and also cannot keep
Load platform is in horizontality；In these cases, load can not be kept flat by changing the length of Telescopic support leg
Platform is in horizontality, at this point it is possible to control transfer, rolling target angle changes the movement for climbing building obstacle detouring transport power carrier
Direction, to bypass the hollow or barrier, later, line information after rotation calculates the free leg as branch
The target length stretched when support leg.If after multiple adjustment turns to, appointing so to can not achieve makes free leg alternating be support leg
When be supported on ground, alarm can be exported, prompting mobile terminal interference control operation.
In the present embodiment, load platform can not kept to be in horizontal by changing the length of Telescopic support leg
When state, the moving direction of building obstacle detouring transport power carrier is climbed by changing, to bypass the hollow or barrier, to ensure to climb
Building obstacle detouring transport power carrier persistently moves.
The present invention also provides a kind of mobile terminal, the mobile terminal includes：Memory, processor and it is stored in described deposit
On reservoir and what can be run on the processor climbs building obstacle detouring transport power carrier control program, further includes the people for realizing interference control
Machine interactive program module and device, the interactive interface of artificial intelligence control；The building obstacle detouring transport power carrier of climbing controls program by institute
State realized when processor executes it is above-mentioned the step of climbing building obstacle detouring transport power carrier control method.
Mobile terminal may include control handle, button etc., can be realized by mobile terminal and be carried to climbing building obstacle detouring transport power
The intelligent control of tool, naturally it is also possible to be realized by mobile terminal and manually control the movement for climbing building obstacle detouring transport power carrier, Ke Yitong
The related control instruction of input is crossed, or gives fixed route etc. and manually controls the movement for climbing building obstacle detouring transport power carrier to realize.?
It can be combined with view-based access control model recognition process unit intelligent control with manually controlling, each embodiment of control method is got over above-mentioned building of climbing
Barrier transport power carrier control method is essentially identical, and this will not be repeated here.
The present invention also provides a kind of storage medium, it is stored on the storage medium and climbs building obstacle detouring transport power carrier control journey
Sequence, described climb are realized when building obstacle detouring transport power carrier control program is executed by processor and above-mentioned climb building obstacle detouring transport power carrier controlling party
The step of method；The control program obtains circuit and environmental information by device for visual identification；The device for visual identification includes
One or more of combinations is at least one in laser radar, radar, camera and infrared sensor.
In the embodiment of mobile terminal of the present invention and storage medium, contains and above-mentioned climb building obstacle detouring transport power carrier controlling party
The all technical features of each embodiment of method, specification expands and explain content and above-mentioned to climb building obstacle detouring transport power carrier control method each
Embodiment is essentially identical, and this will not be repeated here.
The foregoing is merely the preferred embodiment of the present invention, are not intended to limit the scope of the invention, every at this
Under the inventive concept of invention, using equivalent structure transformation made by description of the invention and accompanying drawing content, or directly/use indirectly
In the scope of patent protection that other related technical areas are included in the present invention.
Claims (10)
1. one kind climbing building obstacle detouring transport power carrier, which is characterized in that the building obstacle detouring transport power carrier of climbing includes that running gear, straight line are flat
Moving device, transfer, load platform and power supply；The running gear includes at least one set of Telescopic support leg, and every group can stretch
Contracting support leg is made of at least two Telescopic support legs；The running gear, which further includes that driving Telescopic support leg is flexible, to be stretched
Contracting driving device；The rectilinear translation device includes that rectilinear translation device is driven to be put down with respect to the straight line that support leg vertical line translates
Move driving device；The transfer includes steer-drive；The building obstacle detouring transport power carrier of climbing is additionally provided with visual identity
Processing unit and control device；
The running gear is connect with the rectilinear translation device linear slide that rectilinear translation driving device drives, the rectilinear translation
Device is fixedly connected far from running gear side with transfer, and transfer is rotatably connected with load platform, the vision
Identification device is electrically connected with control device, the control device and retractable driving device, rectilinear translation driving device and steering
Driving device is electrically connected；The power supply is vision identification processing device, control device, retractable driving device, rectilinear translation drive
Dynamic device and steer-drive provide electric energy.
2. climbing building obstacle detouring transport power carrier as described in claim 1, which is characterized in that the Telescopic support leg is driven by rotating
Dynamic and/or Linear Driving is realized flexible；The Telescopic support leg includes scissor-like structure, hydraulic push rod type structure and gear type
At least one of structure retractable structure；Rotational structure is additionally provided on the Telescopic support leg, the rotational structure can
Telescopic support legs are divided into rotating part and fixed part, and rotating part and fixed part are flexibly connected by rotational structure；The rotating part is remote
It is slidably connected from rotational structure one end and rectilinear translation device, the fixed part is used to connect with ground far from rotational structure one end
It touches, plays a supportive role.
3. climbing building obstacle detouring transport power carrier as described in claim 1, which is characterized in that the rectilinear translation device is driven by rotating
Dynamic and/or Linear Driving realizes rectilinear translation, and the rectilinear translation device includes linear gear rack and gear engagement structure or straight
At least one of line sliding rail and pulley fit structure rectilinear translation structure；Each Telescopic support leg and a rectilinear translation
Device is individually slidably connected；The rectilinear translation dress that each Telescopic support leg of the same group of Telescopic support leg is connected
It is parallel relation between setting.
4. climbing building obstacle detouring transport power carrier as claimed in claim 3, which is characterized in that the transfer is driven by rotating
And/or Linear Driving is realized and is turned to, the transfer includes deflecting roller and driving wheel engaging structure or push-and-pull link mechanism
At least one of steering structure；The same group of Telescopic support leg rectilinear translation device disposed in parallel is filled with the same steering
It sets and is fixedly connected.
5. one kind climbing building obstacle detouring transport power carrier control method, which is characterized in that the building obstacle detouring transport power carrier of climbing includes that walking fills
It sets, rectilinear translation device, transfer and load platform；The running gear includes at least one set of Telescopic support leg, every group
Telescopic support leg is made of at least two Telescopic support legs；The running gear further includes that driving Telescopic support leg is flexible
Retractable driving device, the rectilinear translation device include driving rectilinear translation device moved relative to support leg vertical line it is straight
Line translation driving device；The transfer includes steer-drive；The building obstacle detouring transport power carrier of climbing is additionally provided with vision
Recognition process unit and control device；
The building obstacle detouring transport power carrier control method of climbing includes：
The control range and/or mobile terminal control range of view-based access control model recognition process unit setting obtain line information and dynamic
Adjustment travelling route is calculated, driving dress to rectilinear translation driving device, retractable driving device and is turned to according to the line information
It sets and carries out comprehensive coordination control；
It is calculated according to the line information, controls the support for supporting ground in rectilinear translation device every group of Telescopic support leg relatively
Leg moves target range from rectilinear translation device starting point, controls support ground in transfer every group of Telescopic support leg relatively
Support leg rolling target angle coordinates rectilinear translation process, realizes that driving load platform turns to；
Calculated according to the line information alternately to cross a pit required height difference for the obstacle detouring of the free leg drop point of support leg, control
The support leg that system is currently supported on ground is being alternately free leg front stretching target length, to ensure free leg alternately as branch
Ground can be supported on when support leg, and load platform is in horizontality always；
The free leg is supported on ground in rectilinear translation device start position automatic telescopic length to stable, is alternately support
Leg, it is alternately free leg that the support leg, which is shunk,；So far, support leg completes an alternate cycles with free leg.
6. climbing building obstacle detouring transport power carrier control method as claimed in claim 5, which is characterized in that at the view-based access control model identification
The step of control range and/or mobile terminal control range acquisition line information of reason device setting, further include：
Judge the line information of the acquisition whether in the range of the setting control of view-based access control model recognition process unit；
If carrying out obstacle detouring, avoidance calculating by processing routine, the line information of acquisition is in view-based access control model recognition process unit control
When in the range of system, then the support leg on support ground in control rectilinear translation device every group of Telescopic support leg relatively is executed from straight
Line translating device starting point moves target range, controls the support leg that ground is supported in transfer every group of Telescopic support leg relatively
Rolling target angle coordinates rectilinear translation process, realizes the step of driving load platform turns to；
If carrying out obstacle detouring, avoidance calculating by processing routine, dynamically line information acquired after adjustment travelling route exceeds
When the control range of vision identification processing device setting, then alarm, prompting mobile terminal interference control operation are exported.
7. climbing building obstacle detouring transport power carrier control method as claimed in claim 5, which is characterized in that the control linear translation dress
Set the step of supporting the support leg on ground to move target range from rectilinear translation device starting point in every group of Telescopic support leg
Including：
It is calculated when by processing routine, the target range is more than or equal to the distance of rectilinear translation device origin-to-destination
When；
Controlling in the rectilinear translation device every group of Telescopic support leg relatively supports the support leg on ground from rectilinear translation device
Starting point moves to terminal；
It is calculated when by processing routine, the target range is rectilinear translation device origin-to-destination distance, but the non-branch
When support leg is updated to support leg, when the free leg will fall within barrier edge；
It is the first distance to adjust the target range, and first distance is less than the distance of rectilinear translation device origin-to-destination,
Control rectilinear translation device supports the support leg on ground to be moved from rectilinear translation device starting point in every group of Telescopic support leg
First distance.
8. climbing building obstacle detouring transport power carrier control method as claimed in claim 5, which is characterized in that described to be believed according to the circuit
Breath, which calculates, alternately to cross a pit required height difference for the obstacle detouring of the free leg drop point of support leg, and control is currently supported on ground
Support leg alternately be free leg front stretching target length the step of including：
If calculating after support leg is retractable to maximum or minimum target length, free leg, which is alternately support leg, to be supported on
When ground,
According to the preferred of control program in the control range and/or mobile terminal control range of the setting of vision identification processing device
Algorithm adjusts circuit at least once, and calculating the flexible target length of the support leg according to the line information makes free leg hand over
For for ground can be supported on when support leg；When the target length stretched by repeatedly adjusting routine calculation support leg, can not
After making free leg alternately to be supported on ground when support leg, alarm, prompting mobile terminal interference control operation are exported.
9. a kind of mobile terminal, which is characterized in that the mobile terminal includes：Memory, processor and it is stored in the storage
On device and what can be run on the processor climbs building obstacle detouring transport power carrier control program, further includes realizing that interference controls man-machine
Interactive program module and device, the interactive interface of artificial intelligence control；The building obstacle detouring transport power carrier control program of climbing includes quilt
The step for climbing building obstacle detouring transport power carrier control method as described in any one of claim 5 to 8 is realized when the processor executes
Suddenly.
10. a kind of storage medium, which is characterized in that it is stored on the storage medium and climbs building obstacle detouring transport power carrier control program,
Described climb when obstacle detouring transport power carrier control program in building is executed by processor realizes climbing as described in any one of claim 5 to 8
The step of building obstacle detouring transport power carrier control method；The control program obtains circuit and environmental information by device for visual identification；
The device for visual identification includes combination at least one one or more of in laser radar, radar, camera and infrared sensor
Kind.
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| CN201810614336.5A CN108725625B (en) | 2018-06-14 | 2018-06-14 | Stair climbing obstacle surmounting transport capacity carrier, control method, mobile terminal and storage medium |
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| CN109533051A (en) * | 2018-11-29 | 2019-03-29 | 北京理工大学 | A kind of convertible stair climbing robot with foldable swing arm |
| CN109910017A (en) * | 2019-04-23 | 2019-06-21 | 中铁工程装备集团有限公司 | A kind of detection used suitable for shield/tool changing robot and its application method |
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